Abstract: A workpiece transfer system includes a bracket rotatably supported on a support part, a rotary drive mechanism provided on the support part in order to rotate the bracket, a workpiece support arm swingably and axially supported on the bracket, a swing drive mechanism provided on the bracket in order to swing the workpiece support arm, and a workpiece retainer provided on a tip end part of the workpiece support arm and retaining a workpiece that is to be transferred, the workpiece being inclined by operation of the swing drive mechanism when the rotary drive mechanism is operated so that a center of gravity of the workpiece comes on the vicinity of an axis of rotation of the rotary drive mechanism. This reduces the rotational load on the rotary drive mechanism, and since a small size and a reduction in weight can be achieved for the system, the workpiece transfer system and method enables a single worker to easily give a workpiece an inclination and inversion attitude change.